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INS/GNSS Integration with Compensated Data Synchronization Errors and Displacement of GNSS Antenna. Experience of Practical Realization

Abstract

We examine two aspects specific to data fusion of strapdown inertial navigation systems (SINS) aided by global navigation satellite systems (GNSS), with their inherent spatial separation between the GNSS antenna phase center and the inertial measurement unit, as well as with SINS/GNSS synchronization errors. The first aspect refers to modifying the mathematical models used in INS/GNSS integration. The second one relates to our experience in their application in onboard airborne navigation algorithms developed by the Moscow Institute of Electromechanics and Automatics.

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Correspondence to I. A. Papusha.

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The paper is based on the paper presented at the 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS-2020).

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Vavilova, N.B., Golovan, A.A., Kozlov, A.V. et al. INS/GNSS Integration with Compensated Data Synchronization Errors and Displacement of GNSS Antenna. Experience of Practical Realization. Gyroscopy Navig. 12, 236–246 (2021). https://doi.org/10.1134/S207510872103007X

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  • DOI: https://doi.org/10.1134/S207510872103007X

Keywords:

  • strapdown inertial navigation system
  • global satellite navigation system
  • data fusion
  • Kalman filter
  • estimation accuracy